KeshavAnandCode/FTCDecodeMain
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added control to spindexer speed

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This commit is contained in:
DanTheMan-byte
2026-02-28 11:31:32 -06:00
parent a1340c5388
commit 6743481440
2 changed files with 15 additions and 5 deletions
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2
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java
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@@ -19,7 +19,7 @@ public class ServoPositions {
public static double spinStartPos = 0.05; public static double spinStartPos = 0.05;
public static double spinEndPos = 0.95; public static double spinEndPos = 0.95;
public static double shootAllSpindexerSpeedIncrease = 0.008; public static double shootAllSpindexerSpeedIncrease = 0.009;
public static double transferServo_out = 0.15; public static double transferServo_out = 0.15;

16
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
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@@ -2,6 +2,7 @@ package org.firstinspires.ftc.teamcode.teleop;
import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance; import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart; import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.shootAllSpindexerSpeedIncrease;
import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out; import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
import static org.firstinspires.ftc.teamcode.utils.Targeting.turretInterpolate; import static org.firstinspires.ftc.teamcode.utils.Targeting.turretInterpolate;
import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed; import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
@@ -16,6 +17,7 @@ import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp; import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.teamcode.constants.Color; import org.firstinspires.ftc.teamcode.constants.Color;
import org.firstinspires.ftc.teamcode.constants.ServoPositions;
import org.firstinspires.ftc.teamcode.constants.StateEnums; import org.firstinspires.ftc.teamcode.constants.StateEnums;
import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive; import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
import org.firstinspires.ftc.teamcode.utils.Drivetrain; import org.firstinspires.ftc.teamcode.utils.Drivetrain;
@@ -157,9 +159,10 @@ public class TeleopV3 extends LinearOpMode {
light.setState(StateEnums.LightState.BALL_COUNT); light.setState(StateEnums.LightState.BALL_COUNT);
} else if (gamepad2.triangle){ //} else if (gamepad2.triangle){
//light.setState(StateEnums.LightState.BALL_COLOR); //light.setState(StateEnums.LightState.BALL_COLOR);
//}
} else { } else {
light.setState(StateEnums.LightState.BALL_COUNT); light.setState(StateEnums.LightState.BALL_COUNT);
} }
@@ -188,7 +191,7 @@ public class TeleopV3 extends LinearOpMode {
//RELOCALIZATION //RELOCALIZATION
if (gamepad2.squareWasPressed()){ if (gamepad2.triangleWasPressed()){
relocalize = !relocalize; relocalize = !relocalize;
gamepad2.rumble(500); gamepad2.rumble(500);
} }
@@ -197,7 +200,7 @@ public class TeleopV3 extends LinearOpMode {
turret.relocalize(); turret.relocalize();
xOffset = -((turret.getLimelightZ() * 39.3701) + Turret.limelightPosOffset) - robX; xOffset = -((turret.getLimelightZ() * 39.3701) + Turret.limelightPosOffset) - robX;
yOffset = (turret.getLimelightX() * 39.3701) - robY; yOffset = (turret.getLimelightX() * 39.3701) - robY;
hOffset = (Math.toRadians(turret.getLimelightH())) - robH; //hOffset = (Math.toRadians(turret.getLimelightH())) - robH;
} else { } else {
turret.trackGoal(deltaPose); turret.trackGoal(deltaPose);
} }
@@ -265,8 +268,15 @@ public class TeleopV3 extends LinearOpMode {
if (gamepad2.crossWasPressed()) { if (gamepad2.crossWasPressed()) {
drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0)); drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
gamepad2.rumble(200);
sleep(500);
} }
if (gamepad2.squareWasPressed()){
shootAllSpindexerSpeedIncrease = shootAllSpindexerSpeedIncrease-0.01;
} else if (gamepad2.circleWasPressed()){
shootAllSpindexerSpeedIncrease = shootAllSpindexerSpeedIncrease+0.01;
}
if (enableSpindexerManager) { if (enableSpindexerManager) {